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Gait of precise positioning of three-steering engine hexapod robot

A hexapod robot and robot technology, which is used in motor vehicles, transportation and packaging, etc., can solve the problems of rigid body resistance, unstable walking, and inability to calculate the amount of movement, and achieve the effect of precise positioning.

Inactive Publication Date: 2012-09-26
洪浛檩
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The problem here is that the current walking method of the hexapod robot with three servos mainly relies on the driving force of the motor to overcome the ground resistance when the quadrupeds land on the ground, so that the quadrupeds slide relative to the ground and walk, so that the correct movement amount cannot be obtained , leading to unstable and inaccurate walking; another disadvantage is that such a walking method will generate great resistance to the rigid body

Method used

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  • Gait of precise positioning of three-steering engine hexapod robot
  • Gait of precise positioning of three-steering engine hexapod robot
  • Gait of precise positioning of three-steering engine hexapod robot

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Experimental program
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Embodiment Construction

[0016] See first Figure 1 to 3 , The body of the hexapod robot with three steering gears is represented by 4. The middle motor 3 is in the middle of the bottom of the main body 4 and controls the connecting rod connecting the left middle foot 8 and the right middle foot 7. The left motor 2 is on the upper left side of the main body, and the connection line with the left midfoot landing point is perpendicular to the ground, and is connected and simultaneously controls the right front foot 10 and the right rear foot 6. The right motor 5 is on the upper right side of the main body, and the connection line with the right midfoot landing point is perpendicular to the ground, and is connected and simultaneously controls the left front foot 9 and the left rear foot 1.

[0017] Forward: Controlled by the middle motor 3, the left middle foot 8 touches the ground and the right middle foot 7 is raised. At this time, under the rotation of the middle motor 3, the left front foot 9 and the l...

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Abstract

Provided is a gait of precise positioning of a three-steering engine hexapod robot, relating to a walking method of precise positioning of the three-steering engine hexapod robot when the robot moves in a plane surface. Through combining right front gait and left front gait in different orders, the gait can guarantee realization of precise movement of the three-steering engine hexapod robot on ideal ground and mechanism conditions and realize forward, backward, left and right movement as well as rotation. The new walking method adopted by the three-steering engine hexapod robot, enables improved accuracy of walking path of the robot. Specific gait process is described in the specification.

Description

technical field [0001] Hexapod robot with three servos. Background technique [0002] Three steering gears control the hexapods to walk in an orderly manner, which is the solution using the least number of steering gears in the current hexapod walking robot. This just needs a reasonable walking gait and the mechanical structure that adapts to. At present, there are more or less problems in the walking schemes of hexapod robots in the world, such as the gait of three-servoir hexapod robots mentioned in Chapter 10 of "PIC Robot Beginner's Guide". The problem here is that the current walking method of the hexapod robot with three servos mainly relies on the driving force of the motor to overcome the ground resistance when the quadrupeds land on the ground, so that the quadrupeds slide relative to the ground and walk, so that the correct movement amount cannot be obtained , leading to unstable and inaccurate walking; another disadvantage is that such a walking method will gene...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 洪浛檩
Owner 洪浛檩
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